KR20210055032A - A connecting module and a motion assist apparatus comprising thereof - Google Patents

Abstract

The present invention relates to a connection module to strengthen the strength of a body, and a motion assist device including the same. According to an embodiment of the present invention, the connection module comprises: a case formed to be inclined downward from a recessed space recessed between the waist and the hip of a person to the hip joint of the person; a power transmission assembly disposed inside the case; and a support module connection unit located at an output end of the power transmission assembly and capable of being coupled to a support module supporting the leg of the person.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention A connecting module and a motion assist apparatus comprising the same

The following description relates to a connection module and an exercise assistance device including the same.

As the aging society intensifies in recent years, there is an increasing number of people complaining of pain and discomfort due to joint problems, and interest in exercise assisting devices that enable the elderly or patients with joint discomfort to walk smoothly is increasing. In addition, exercise assistance devices have been developed to strengthen the muscle strength of the human body for purposes such as military use.

For example, the exercise assisting device includes a body frame mounted on the user's torso, a pelvic frame coupled to the lower side of the body frame to surround the user's pelvis, the thigh and calf of the user, and a femoral frame mounted on the foot. It consists of a frame and a foot frame. The pelvic frame and the femur frame are rotatably connected by the hip joint, the frame and the calf frame are rotatably connected by the knee joint, and the calf frame and the foot frame are rotatably connected by the ankle joint.

Such an exercise assisting device may have an active joint structure including a driving motor or a hydraulic system for driving each joint to assist the user's leg muscles.

For example, the drive motor of the driving unit, the speed reducer, and the fixed frame are structurally connected to the joint in the axial direction.

According to an embodiment, the connection module includes: a case formed to be inclined downward to the hip joint of the person from the depression space recessed between the waist and the hip of the person; A power transmission assembly disposed inside the case; And a support module connection part positioned at the output end of the power transmission assembly and capable of being coupled to a support module supporting the leg of the person.

The connection module may further include a driving source positioned at the input end of the power transmission assembly and disposed in the recessed space.

The power transmission assembly may include a plurality of reduction gears disposed to be inclined downward along the length direction of the case.

The plurality of reduction gears may include: a first reduction gear receiving power from a drive source; And a second reduction gear that receives power from the first reduction gear and rotates the support module connection, wherein each of the first reduction gear and the second reduction gear is a composite gear in which gears having different diameters are coupled ( compound gear).

A gear having a larger diameter among the first reduction gears is connected to a drive gear of the driving source, and a gear having a smaller diameter among the first reduction gears is connected to a gear having a larger diameter among the second reduction gears, and the first The reduction gear and the second reduction gear may be arranged such that the faces of the reduction gears facing the small-diameter gears are opposite to each other.

The case is bent, and a gear having a larger diameter among the first reduction gears is connected to a drive gear of the driving source, and a gear having a smaller diameter among the first reduction gears is a gear having a larger diameter among the second reduction gears. Is connected to, the first reduction gear and the second reduction gear may be arranged such that surfaces of the respective reduction gears facing the small-diameter gears coincide with each other.

The case is bent, and at least some of the drive gears and the plurality of reduction gears of the drive source may be bevel gears.

The width of one end and the other end of the case is formed to be narrower than the width of the central part of the case, and the diameter of the reduction gear disposed in the center among the plurality of reduction gears is, respectively, disposed at the input end and the output end of the power transmission assembly. It can be larger than the diameter of the reduction gear.

The case includes a first case comprising a rigid material and supporting the driving source; A second case comprising a rigid material and supporting the support module connection portion; And a third case disposed between the first case and the second case and including a flexible material.

The power transmission assembly may include a longitudinal member extending along a longitudinal direction of the third case.

The case may include a flexible frame including a flexible material; A driving source support part provided on one side of the flexible frame and supporting the driving source; And a support module connection part provided on the other side of the flexible frame to support the support module connection part.

The connection module may further include a coupling frame surrounding at least a portion of a side of the waist of the person, and the case may be integrally formed with the coupling frame.

According to an embodiment, an exercise assisting device includes: a fixing member fixed to a portion of an object; A support module fixed to another part of the object to assist the other part to move with respect to the one part; And a drive source disposed on one side connected to the fixing member, a support module connection part disposed on the other side connected to the support module, and a power transmission assembly for transmitting power between the drive source and the support module connection part. Can include.

The exercise assisting device may further include a case connected to one of a plurality of joints provided in the object from the depression space recessed between the waist and hips of the object.

The power transmission assembly may include a plurality of rotating bodies for transmitting power to each other, and the plurality of rotating bodies may be arranged to be lined up along the length direction of the case.

The connection module may further include a coupling frame surrounding at least a portion of a portion of the object, and the fixing member may be slidably connected to the coupling frame to be adjustable according to a length of a circumference of the object.

The drive source, the support module connection part, and the power transmission assembly may be disposed inside the coupling frame.

The support module may be detachable to the connection module.

The support module connection portion includes a connection disk that rotates by receiving power from the power transmission assembly, and the connection disk includes a plurality of first coupling portions formed asymmetrically with each other with respect to a rotation axis of the connection disk, , The support module may include a plurality of second coupling portions corresponding to the shapes of the plurality of first coupling portions.

The exercise assisting device further includes a joint member intervening between the support module connection part and the support module, and the joint member allows the support module to freely perform extension or abduction. , It may be hinged with the support module.

1 is a front view of an exercise assistance device according to an embodiment.
2 is a side view of an exercise assistance device according to an embodiment.
3 is a top view of an exercise assistance device according to an embodiment.
4 is a perspective view of a connection frame according to an embodiment.
5 is a side cut-away view of a connection frame according to an embodiment.
6 is a cutaway view of an upper surface of a connection frame according to an embodiment.
7 is a perspective view of a connection frame according to another embodiment.
8 is a cutaway view of an upper surface of a connection frame according to another embodiment.
9 is a cutaway view of an upper surface of a connection frame according to another embodiment.
10 is a perspective view of a connection frame according to a further embodiment.
11 is a cutaway view of an upper surface of a connection frame according to a further embodiment.
12 is a perspective view of a connection frame according to a modified example of a further embodiment.

Hereinafter, embodiments will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible, even if they are indicated on different drawings. In addition, in describing the embodiment, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment, the detailed description thereof will be omitted.

In addition, in describing the constituent elements of the embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are for distinguishing the constituent element from other constituent elements, and the nature, order, or order of the constituent element is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, the component may be directly connected or connected to that other component, but another component between each component It should be understood that may be “connected”, “coupled” or “connected”.

1 is a front view of an exercise assistance device according to an embodiment, FIG. 2 is a side view of an exercise assistance device according to the embodiment, and FIG. 3 is a top view of the exercise assistance device according to the embodiment.

1 to 3, the exercise assisting device 10 according to the embodiment may be worn on an object to assist the exercise of the object.

The object may be a human, an animal, or a robot, but is not limited thereto. In addition, FIG. 1 illustrates a case where the exercise assisting device 10 assists the movement of the thigh of the object, but the exercise assisting device 10 includes other parts of the upper body such as the hand, upper arm, and lower arm of the object, It is also possible to support other parts of the lower body, such as feet and calves. In other words, the exercise assisting device 10 may assist the movement of a part of the object.

Hereinafter, a case in which the exercise assisting device 10 assists the movement of a person's thigh will be exemplarily described.

The exercise assisting device 10 may include a fixing member 20, a connection module 30, a support module 40, and a control unit 50.

The fixing member 20 may wrap at least a part of the object. The fixing member 20 may be fixed to the object. The fixing member 20 may contact at least a part of an outer surface of the object. The fixing member 20 may have a shape surrounding at least a portion of an outer surface of the object. The fixing member 20 may be curved in a shape corresponding to a contact portion of the object. In other words, the fixing member 20 may include a curved surface in contact with the object. For example, the fixing member 20 may be fixed to one side of the waist of the object. For example, the fixing member 20 may have a shape corresponding to the curve of the front or back of a person's waist.

The fixing member 20 may include a flexible material. The fixing member 20 may be deformed according to the shape of the outer surface of the object. For example, the fixing member 20 may include a fabric material or a synthetic resin material. The fixing member 20 may include an elastic material such as rubber or silicone.

The fixing member 20 may include a guide part 22 for guiding the connection module 30.

The connection module 30 may connect the fixing member 20 and the support module 40. The connection module 30 may be provided detachably to the fixing member 20 and/or the support module 40. In this case, the connection module 30 may be replaced according to the condition of the object. Conversely, the connection module 30 may be used as it is, and the fixing member 20 and/or the support module 40 may be replaced.

The connection module 30 may include a coupling frame 32 and a connection frame 100. The coupling frame 32 and the connection frame 100 may be formed as separate members or may be integrally formed.

The coupling frame 32 may surround at least a part of the object. The coupling frame 32 may be fixed to the object. The coupling frame 32 may contact at least a portion of an outer surface of the object. The coupling frame 32 may have a shape surrounding at least a portion of an outer surface of the object. The coupling frame 32 may be curved in a shape corresponding to a contact portion of the object. In other words, the coupling frame 32 may include a curved surface in contact with the object. For example, the coupling frame 32 may be fixed to one side of the waist of the object. For example, the coupling frame 32 may have a shape corresponding to the curve of the side of the waist of a person.

The coupling frame 32 may include a flexible material. The coupling frame 32 may be deformed according to the shape of the outer surface of the object. For example, the coupling frame 32 may include a fabric material or a synthetic resin material. The coupling frame 32 may include an elastic material such as rubber or silicone.

The coupling frame 32 may be connected to the fixing member 20 and the connection frame 100. By the coupling frame 32 and the fixing member 20, the exercise assisting device 10 may be fixed to a part of the object. The coupling frame 32 and the fixing member 20 may form a closed curved surface.

The coupling frame 32 may be coupled to be relatively movable with respect to the fixing member 20. By relatively moving the coupling frame 32 and the fixing member 20, the closed curved surfaces of the coupling frame 32 and the fixing member 20 may be adjusted to correspond to the outer surface of the object. For example, the coupling frame 32 may be slidably coupled to the guide portion 22 of the fixing member 20. The coupling frame 32 may include a guide portion corresponding to the guide portion 22. For example, the guide portion 22 of the fixing member 20 may be recessed, and the guide portion of the coupling frame 32 may be formed to protrude to be mated to each other.

The connection frame 100 may provide power to the support module 40. One side of the connection frame 100 may be connected to the coupling frame 32, and the other side of the connection frame 200 may be connected to the support module 40.

The connection frame 100 may be disposed to be inclined downward with respect to the fixing member 20. For example, one side of the connection frame 100 may be disposed on a rear surface of the object, and the other side of the connection frame 100 may be disposed on one side of a hip joint portion of the subject.

The connection frame 100 may extend from a recessed space on an outer surface of the object and may be connected to the support module 40. Here, the recessed space of the outer surface of the object may be referred to as “excess space”. In other words, one side of the connection frame 100 may be located in the redundant space. For example, one side of the connection frame 100 may be disposed behind a waist of the object. For example, one side of the connection frame 100 may be disposed above the hip of the object. For example, one side of the connection frame 100 may be disposed on one side of the gluteus maximus (Gluteus Minimus).

The connection frame 100 may include a drive source and power transmission elements that transmit power from the drive source to the support module 40. A detailed description of the connection frame 100 will be described later.

The support module 40 may support a part of the object. The support module 40 may assist the movement of a part of the object. The support module 40 may be rotated by the power transmitted from the connection frame 100. The rotational force of the support module 40 may be transmitted to a part of the object to assist in the movement of the part of the object.

The support module 40 may be provided detachably to the connection frame 100. In this case, the support module 40 may be replaced according to the condition of the object.

The support module 40 may include a joint member 42, a support frame 44, a pressing member 48, and a support member 49.

Power may be transmitted between the connection frame 100 and the support frame 44. One side of the joint member 42 may be connected to the connection frame 100, and the other side of the joint member 42 may be connected to the support frame 44.

One side of the joint member 42 may be connected to the output end of the connection frame 100 and rotated. For example, the joint member 42 may be disposed on one side of the hip joint of the object. In this case, the joint member 42 may also be referred to as a "hip joint auxiliary member". The joint member 42 may be provided detachably to the connection frame 100.

The other side of the joint member 42 may be hinged to the support frame 44. In other words, the other side of the joint member 42 and the support frame 44 may be connected by a hinged structure. In addition, the hinge axis of the hinge coupling structure may intersect with the rotation axis of the joint member 42. For example, the hinge axis and the axis of rotation can be orthogonal. The support frame 44 can perform 2 degree-of-freedom movement with respect to the fixing member 20 by a hinge axis and a rotation axis.

Meanwhile, the joint member 42 may be provided detachably from the support frame 44. In this case, the joint member 42 may be understood as a configuration of the connection module 100. And it may be understood that the support module 40 is detachable to the joint member 42. In other words, the joint member 42 may be understood as intervening between the support module connection 140 and the support module 40.

The joint member 42 may be hinged with the support module 40 so that the support module 40 can freely perform an adduction or abduction of the support module 40. In other words, when the joint member 42 performs an adduction or abduction that is orthogonal to a direction in which the support frame 44 assists the movement of a part of the object, It may be a passive joint that does not prevent it.

The support frame 44 may extend along a portion of the object. For example, the support frame 44 may extend in the length direction of the leg of the object. The support frame 44 may include a first support frame 45 connected to the joint member 42 and a second support frame 46 connected to the first support frame 45.

One side of the first support frame 45 may be connected to the joint member 42 in a hinge manner. The other side of the first support frame 45 may be connected to be relatively movable with respect to the second support frame 46. For example, the first support frame 45 and the second support frame 46 may be connected to be slidably movable. In other words, the overall length of the support frame 44 can be adjusted. In this case, the length of the support frame 44 may be adjusted according to the condition of the object. When the sliding structure of the first support frame 45 and the second support frame 46 is added, the support frame 44 can perform 3 degree-of-freedom movement with respect to the fixing member 20. have.

The pressing member 48 may be connected to one side of the second support frame 46. For example, the pressing member 48 may be disposed on one side of a leg of the object to push or pull the thigh of the object. For example, the pressing member 48 may be disposed on the front side of the thigh of the object.

The support member 49 may be connected to one side of the pressing member 48. For example, the support member 49 may be disposed to surround at least a portion of the thigh of the object to prevent the thigh of the object from being separated from the support frame 44. The support member 49 may be disposed on the opposite side of the pressing member 48 based on the thigh of the object.

The control unit 50 may control the drive connection frame 100 so that the connection frame 100 transmits power to the support module 40. The control unit 50 may be provided on one side of the fixing member 20. The control unit 50 may be disposed in the surplus space of the object. For example, as shown in FIG. 2, the control unit 50 may be provided on the rear side of the fixing member 20. The controller 50 may be disposed behind the waist of the object. The controller 50 may be disposed above the hip of the object. However, in the embodiment, the location of the control unit 50 is not limited.

FIG. 4 is a perspective view of a connection frame according to an embodiment, FIG. 5 is a side cutaway view of the connection frame according to the embodiment, and FIG. 6 is a cutaway view of the upper surface of the connection frame according to the embodiment.

4 to 6, the connection frame 100 according to the embodiment may include a case 110, a drive source 120, a power transmission assembly 130, and a support module connection 140. have.

The case 110 may form the outer shape of the connection frame 100. One side of the case 110 may be connected to the driving source 120, and the other side of the case 110 may be connected to the support module connection part 140. Based on the case 110, the driving source 120 and the support module connection part 140 may be disposed in opposite directions to each other. In other words, the driving source 120 and the support module connection unit 140 may be disposed spaced apart from each other.

The case 110 may be provided to surround at least a portion of the driving source 120, the power transmission assembly 130, and the support module connection part 140. Meanwhile, the case 110 may be provided to completely surround the driving source 120. The case 110 may extend in a direction orthogonal to the driving axis of the driving source 120.

The case 110 may be provided integrally with the coupling frame 32. In other words, the internal parts of the case 110 may be provided inside the coupling frame 32. According to the above structure, the volume of the connection module 30 can be reduced.

The driving source 120 may be a motor that generates power by receiving voltage or current, or may include a driving source such as a pump operated by hydraulic pressure. However, this is only an example, and the type of the driving source is not limited in the embodiment. The drive source 120 may include a drive gear 122 for transmitting rotational power.

The total thickness of the driving source 120 may be thicker than the thickness of the power transmission assembly 130 and the support module connection part 140. The driving source 120 may be disposed in an excess space of the object. The driving source 120 may be provided in a size corresponding to the surplus space. When the driving source 120 is disposed in the redundant space, when a person wears the jacket, it is possible to prevent the jacket from protruding by the driving source 120.

The body of the drive source 120 may be disposed in the redundant space, and the drive shaft of the drive source 120 may be disposed to face the outer surface of the object. For example, the driving shaft of the driving source 120 may be arranged to be parallel to the rotation axis of the hip joint of the object.

Meanwhile, unlike shown, the driving source 120 may be completely enclosed by the case 110.

The power transmission assembly 130 may transmit power transmitted from the drive gear 122 to the support module connection part 140. The power transmission assembly 130 may include at least one reduction gear. The power transmission assembly 130 may include, for example, a first reduction gear 132, a second reduction gear 134, and a third reduction gear 135. In FIG. 6, a case where the power transmission assembly is three reduction gears is illustrated as an example, but the number of power transmission assemblies is not limited in the embodiment.

The power transmission assembly 130 may include a compound gear in which gears having different diameters are coupled.

Among the first reduction gears 132, a gear having a larger diameter may be connected to the driving gear 122, and a gear having a smaller diameter among the first reduction gears 132 may be connected to the second reduction gear 134.

Among the second reduction gears 134, a gear having a larger diameter may be connected to the first reduction gear 132, and a gear having a smaller diameter among the second reduction gears 134 may be connected to the third reduction gear 135.

The third reduction gear 135 may have a fan shape. In other words, a toothed gear may be formed only on a part of the outer circumferential surface of the third reduction gear 135. In other words, the third reduction gear 135 may include a tooth that is disposed at an angle corresponding to an angle in which the support module connection part 140 is rotatable. For example, the teeth of the third reduction gear 135 may be disposed only in the range of 180 degrees to 270 degrees. According to the above structure, since the rotation moment of the third reduction gear 135 can be reduced, power transmission efficiency can be improved.

On the other hand, unlike shown, the first reduction gear 132 and the third reduction gear 135 may be directly connected, and a plurality of gears are arranged between the first reduction gear 132 and the third reduction gear 135 It could be. The second reduction gear 134 may be understood as collectively referring to gears disposed between the first reduction gear 132 and the third reduction gear 135. Other power transmission elements may be arranged between the first reduction gear 132 and the third reduction gear 135.

The maximum diameter of the first reduction gear 132 may be smaller than the maximum diameter of the second reduction gear 134. In this case, the width of one end of the case 110 may be reduced.

The sum of the diameter R11 of the gear having a smaller diameter among the first reduction gear 132 and the diameter R22 of the gear having the larger diameter among the second reduction gear 134 is the larger diameter among the first reduction gear 132. The diameter of the gear diameter R12 and the second reduction gear 132 may be larger than the sum of the diameter R21 of the smaller gear. In this case, as shown in FIG. 6, the first reduction gear 132 and the second reduction gear 134 may be arranged such that the surfaces of the reduction gears facing the small-diameter gears are opposite to each other. Through the above structure, the width of the case 110 can be made thin.

On the other hand, when a plurality of reduction gears are disposed between the first reduction gear 132 and the third reduction gear 135, at least some of the reduction gears among the plurality of reduction gears are the first reduction gear 132 and the second reduction gear. Like the gear 134, in each of the reduction gears, the surfaces facing the small-diameter gears may be arranged so as to be opposite to each other. Through the above structure, it is possible to keep the width of the case 110 thin regardless of the number of reduction gears.

The maximum diameter of the third reduction gear 135 may be smaller than the maximum diameter of the second reduction gear 134. In this case, the width of the other end of the case 110 may be reduced.

According to the above configuration, as shown in FIG. 5, the case 110 may have a shape whose width decreases toward both sides based on the central portion of the case 110.

The support module connection part 140 may perform one rigid body motion with the third reduction gear 135. For example, the support module connection part 140 may be fastened to the third reduction gear 135 by a separate fastening member, or may be integrally formed. For example, it is possible that the third reduction gear 135 is integrally formed on at least a part of the rim of the support module connection part 140.

The support module 40 may be connected to the support module connection part 140. The support module 40 may be detachable to the support module connection part 140. For example, the support module 40 may be detachably attached to the support module connection part 140 in the lateral direction. However, in the embodiment, the attaching and detaching direction of the support module 40 is not limited.

The support module connection part 140 may include a connection disk 142 and a connection bearing 148.

The connection disk 142 may perform one rigid body motion with the third reduction gear 135. For example, the connection disk 142 may be fastened to the third reduction gear 135 by a separate fastening member, or may be integrally formed. The connection disk 142 may include a rotation shaft hole 143 and at least one or more first coupling portions 144, 145, and 146.

In the rotation shaft hole 143, the rotation shaft of the connection disk 142 may be coupled.

The second coupling portion 43 of the joint member 42 may be coupled to the first coupling portion 144, 145, and 146. The plurality of first coupling portions 144, 145, and 146 may be disposed asymmetrically to each other.

For example, the first coupling portion 144, 145, 146, the first hole 144, the second hole 145, and the third hole 146 drilled in the joint member 42 Can include. The first hole 144 and the second hole 145 may have different diameters. The number of the second holes 144 and the third holes 146 may be different from each other. The second hole 145 and the third hole 146 may be located at different distances from the center of the rotation shaft hole 143.

According to the asymmetric shape of the first coupling portions 144, 145, and 146, it is possible to prevent the joint member 42 from being incorrectly coupled. Of course, the first coupling portions 144, 145, and 146 may be disposed symmetrically to each other.

The connection bearing 148 is disposed on one side of the connection disk 142 to reduce frictional force due to rotation of the connection disk 142 or the joint member 42. For example, the connection bearing 148 may be interposed between the connection disk 142 and the case 110. As another example, the connection bearing 148 may be interposed between the joint member 42 and the case 110.

Meanwhile, the drive gear 122 and the reduction gears 132, 134, 135, and the like are illustrated as being toothed gears, but are not necessarily limited as described above. Gears can be understood as comprising a rotating body capable of transmitting power by rolling friction.

Hereinafter, components included in the above-described embodiments and components including common functions will be described using the same name. Unless otherwise stated, the description of the above-described embodiments may be applied to the following embodiments. Hereinafter, a detailed description will be omitted.

7 is a perspective view of a connection frame according to another embodiment, and FIG. 8 is a cutaway view of the upper surface of the connection frame according to another embodiment.

7 and 8, the connection frame 200 according to another embodiment includes a case 210, a drive source 220, a power transmission assembly 230, and a support module connection part 240. I can.

The case 210 may extend in a direction crossing the driving axis of the driving source 220. At least a portion of the case 210 may be bent. At least a portion of the case 210 disposed between the driving source 220 and the support module connection part 240 may be formed to be inclined. The case 210 may be formed to be bent from the rear of the object toward the front. The case 210 may be formed to be bent along the outer surface of the object. According to the above structure, the case 210 can be in close contact with the object, and the height at which the entire connection frame 100 protrudes to the outside can be reduced.

The case 210 may be bent to have the same shape as the outer surface of the object. In addition, the case 210 may be provided integrally with the coupling frame 32. In other words, the internal parts of the case 210 may be provided inside the coupling frame 32. According to the above structure, the volume of the connection module 30 can be reduced.

The drive source 220 may include a drive gear 222.

The power transmission assembly 230 may include, for example, a first reduction gear 232, a second reduction gear 234, and a third reduction gear 235.

As shown in FIG. 8, the first reduction gear 232 and the second reduction gear 234 may be arranged so that the surfaces of the reduction gears facing the small-diameter gears coincide with each other. Through the above structure, the case 210 may have a bent shape. FIG. 8 exemplarily shows that the case 210 is formed to be inclined at a certain angle, but, unlike this, of course, it may be formed to be inclined at various angles.

On the other hand, when a plurality of reduction gears are disposed between the first reduction gear 232 and the third reduction gear 235, at least some of the reduction gears among the plurality of reduction gears are the first reduction gear 232 and the second reduction gear. Like the gear 234, the faces of the gears having a small diameter in each reduction gear may be arranged to coincide with each other. Through the above structure, the case 110 may be bent at various angles as necessary. Of course, as shown in Figs. 5 and 6, it is of course possible to combine and arrange with reduction gears whose surfaces facing the small-diameter gears are opposite to each other.

9 is a cutaway view of an upper surface of a connection frame according to another embodiment.

Referring to FIG. 9, a connection frame 300 according to another embodiment may include a case 310, a drive source 320, a power transmission assembly 330, and a support module connection part 340. .

The drive source 320 may include a drive gear 322.

The power transmission assembly 330 may include a first reduction gear 332, a second reduction gear 334, and a third reduction gear 335.

Among the second reduction gears 334, a gear having a larger diameter is disposed outside the bending direction of the case 310, and a gear having a smaller diameter among the second reduction gears 334 is disposed inside the case 310 in the bending direction. Can be.

At least some of the drive gear 322 and the reduction gears 332, 334, and 335 may be formed to be inclined. In other words, some of the reduction gears may be bevel gears. According to the above structure, it is possible to form the connection frame 300 having a reduction ratio as shown in FIG. 8 and having a larger degree of bending of the overall shape.

10 is a perspective view of a connection frame according to an additional embodiment, and FIG. 11 is a cutaway view of the upper surface of the connection frame according to an additional embodiment.

10 and 11, the connection frame 400 according to an additional embodiment includes a case 410, a drive source 420, a power transmission assembly 430, and a support module connection part 440. I can.

The case 410 may be deformed to correspond to the shape of the outer surface of the object. The case 410 may include a flexible material. The case 410 may include a first case 412 and a second case 414 positioned at both ends of the case 410, and a third case 416 positioned at the center of the case 410. I can.

The first case 412 may be disposed on a side surface and/or a rear surface of the object. The second case 414 may be disposed on one side of the hip joint of the object. The first case 412 and the second case 414 may include a rigid material.

The first case 412 may be disposed on one side of the driving source 420. In this case, the first case 412 may also be referred to as a “drive source support case”.

The second case 414 may be disposed on one side of the support module connection part 440. In this case, the second case 414 may also be referred to as a “support module support case”.

The third case 416 may connect the first case 412 and the second case 414. The third case 416 may include a flexible material. The third case 416 may also be referred to as a "flexible case".

The drive source 420 may include a drive gear 422. The driving source 420 may be supported by the first case 412. Since the first case 412 includes a rigid material, the driving source 420 can be stably supported.

The body of the drive source 420 may be disposed in the redundant space, and the drive shaft of the drive source 420 may be disposed to face the surface of the object. For example, the driving shaft of the driving source 420 may be disposed in a direction crossing the rotation axis of the hip joint of the object.

The power transmission assembly 430 may include a first reduction gear 432, a second reduction gear 434, a third reduction gear 435, and a power transmission member 450.

The first reduction gear 432 may be supported by the first case 412. Since the first case 412 includes a rigid material, a relative distance between the driving gear 422 and the first reduction gear 432 may be maintained. In other words, it is possible to prevent a play from occurring between the drive gear 422 and the first reduction gear 432.

The second reduction gear 434 and/or the third reduction gear 435 may be supported by the second case 414. Since the second case 414 includes a rigid material, the second reduction gear 434 and/or the third reduction gear 435 may be stably supported. In addition, since the relative distance between the second reduction gear 434 and the third reduction gear 435 can be maintained, it is possible to prevent a gap from occurring between the second reduction gear 434 and the third reduction gear 435. I can.

The power transmission member 450 may be disposed inside the third case 416. The power transmission member 450 may be disposed between the driving source 420 and the support module connection part 440 to transmit power. For example, the power transmission member 450 may be connected to two of the driving gear 422 and the first reduction gear 432 to the third reduction gear 435 to transmit power. For example, the power transmission member 450 may transmit power by being connected between a gear having a small diameter of the first reduction gear 432 and a gear having a large diameter of the second reduction gear 434.

The power transmission member 450 may include a longitudinal member extending along the longitudinal direction of the third case 416. For example, the power transmission member 450 may include a wire, a cable, a string, a link, a rubber band, a spring, a belt, or a chain. The power transmission member 450 may include an elastic member having elasticity. In this case, even when the case 410 is deformed, power can be stably transmitted without loss of power.

12 is a perspective view of a connection frame according to a modified example of a further embodiment.

Referring to FIG. 12, a connection frame 500 according to a modified example of a further embodiment may include a case 500, a drive source 520, a power transmission assembly, and a support module connection part 540.

The case 410 may be deformed to correspond to the shape of the outer surface of the object. The case 410 may include a flexible frame 516 made of a flexible material, a driving source support part 512 and a support module support part 514 provided on one side and the other side of the flexible frame 516, respectively.

The driving source support part 512 may be disposed on one side of the driving source 520. The drive source support 512 may connect a drive shaft of the drive source 520 and a rotation shaft of the first reduction gear 432 (see FIG. 11 ).

The support module support part 514 may be disposed on one side of the support module connection part 440. The support module support part 514 may connect the rotation shaft of the second reduction gear 434 (see FIG. 11) and the rotation shaft of the third reduction gear 435 (see FIG. 11 ).

As described above, although the embodiments have been described by the limited embodiments and drawings, various modifications and variations are possible from the above description to those of ordinary skill in the art. For example, the described techniques are performed in a different order from the described method, and/or components such as systems, structures, devices, circuits, etc. described are combined or combined in a form different from the described method, or other components Alternatively, even if substituted or substituted by an equivalent, an appropriate result can be achieved.

Therefore, other implementations, other embodiments, and those equivalent to the claims also fall within the scope of the claims to be described later.

Claims (20)

A case formed to be inclined downward from the recessed space between the waist and hips of the person to the hip joint of the person;
A power transmission assembly disposed inside the case; And
A connection module located at the output end of the power transmission assembly and including a support module connection part capable of being coupled to a support module supporting the leg of the person. The method of claim 1,
A connection module positioned at the input end of the power transmission assembly and further comprising a drive source disposed in the recessed space. The method of claim 2,
The power transmission assembly,
A connection module comprising a plurality of reduction gears disposed to be inclined downward along the longitudinal direction of the case. The method of claim 3,
The plurality of reduction gears,
A first reduction gear receiving power from a drive source; And
And a second reduction gear that receives power from the first reduction gear and rotates the support module connection part,
The connection module of the first reduction gear and the second reduction gear including a compound gear in which gears having different diameters are coupled, respectively. The method of claim 4,
Among the first reduction gears, a gear having a large diameter is connected to a drive gear of the drive source,
A gear having a smaller diameter among the first reduction gears is connected to a gear having a larger diameter among the second reduction gears,
The connection module of the first reduction gear and the second reduction gear is arranged such that the surfaces of the respective reduction gears facing the small-diameter gears are opposite to each other. The method of claim 4,
The case is bent formed,
Among the first reduction gears, a gear having a large diameter is connected to a drive gear of the drive source,
A gear having a smaller diameter among the first reduction gears is connected to a gear having a larger diameter among the second reduction gears,
The connection module of the first reduction gear and the second reduction gear is arranged so that the surfaces of the respective reduction gears facing the small-diameter gears coincide with each other. The method of claim 3,
The case is bent formed,
At least some of the drive gears and the plurality of reduction gears of the drive source are bevel gears. The method of claim 3,
The width of one end and the other end of the case is formed to be narrower than the width of the central part of the case,
A connection module having a diameter of a reduction gear disposed at a center among the plurality of reduction gears is larger than a diameter of each reduction gear disposed at an input end and an output end of the power transmission assembly. The method of claim 2,
The case,
A first case comprising a rigid material and supporting the driving source;
A second case comprising a rigid material and supporting the support module connection portion; And
A connection module disposed between the first case and the second case and including a third case including a flexible material. The method of claim 9,
The power transmission assembly,
A connection module comprising a longitudinal member extending along a longitudinal direction of the third case. The method of claim 2,
The case,
A flexible frame including a flexible material;
A driving source support part provided on one side of the flexible frame and supporting the driving source; And
A connection module including a support module connection part provided on the other side of the flexible frame and supporting the support module connection part. The method of claim 1,
Further comprising a coupling frame surrounding at least a portion of the side of the waist of the person,
The case is a connection module formed integrally with the coupling frame. A fixing member fixed to a portion of the object;
A support module fixed to another part of the object to assist the other part to move with respect to the one part; And
A connection module having a drive source disposed on one side connected to the fixing member, a support module connection part disposed on the other side connected to the support module, and a power transmission assembly for transmitting power between the drive source and the support module connection part. Exercise assisting device. The method of claim 13,
The connection module,
An exercise assisting apparatus further comprising a case connected to one of a plurality of joints provided in the object from the depression space recessed between the waist and hips of the object. The method of claim 14,
The power transmission assembly includes a plurality of rotating bodies for transmitting power to each other,
The plurality of rotational bodies are arranged in a row along the longitudinal direction of the case. The method of claim 13,
The connection module,
Further comprising a coupling frame surrounding at least a portion of a portion of the object,
The fixing member is slidably connected to the coupling frame and is adjustable according to the length of the circumference of the object. The method of claim 16,
The driving source, the support module connection part, and the power transmission assembly are arranged inside the coupling frame. The method of claim 13,
The support module is an exercise assisting device detachable to the connection module. The method of claim 18,
The support module connection part includes a connection disk that receives power from the power transmission assembly and rotates,
The connection disk includes a plurality of first coupling portions formed asymmetrically with each other with respect to the rotation axis of the connection disk,
The support module includes a plurality of second coupling portions corresponding to the shapes of the plurality of first coupling portions. The method of claim 13,
Further comprising a joint member intervening between the support module connection portion and the support module,
The joint member is an exercise assisting device that is hinged with the support module so that the support module can freely perform an extension or abduction of the support module.

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